Portable steel pipe grinding and pulling robot

Abstract

The application discloses a portable steel pipe grinding and pulling robot, and belongs to the technical field of steel pipe inner wall grinding equipment, and solves the problems of low efficiency and high cost of the existing steel pipe grinding mode; the portable steel pipe grinding and pulling robot comprises a front end sensor assembly, a transmission and variable diameter assembly, a push rod driving assembly, a grinding assembly and a main rod; the push rod driving assembly and the transmission and variable diameter assembly are arranged on the main rod; the front end sensor assembly is installed at the front end of the transmission and variable diameter assembly and is used for collecting full-dimension data of the steel pipe; the tail end of the main rod is connected with the grinding assembly. In the application, the transmission and variable diameter assembly and the push rod driving assembly are supported in the steel pipe, the push rod driving assembly can drive two groups of crawler walking mechanisms in the transmission and variable diameter assembly to stretch to the two sides of the main rod, so that the two groups of crawler walking mechanisms are supported on the inner wall of the steel pipe; after being supported, the crawler walking mechanisms crawl along the steel pipe, and the grinding assembly is pulled to grind the inner wall of the steel pipe, so that the grinding efficiency is high, and the application is especially suitable for the grinding scene of the inner surface of a slender steel pipe.

Description

Technical Field

[0001] This invention relates to the technical field of steel pipe inner wall grinding equipment, and in particular to a portable steel pipe grinding traction robot. Background Technology

[0002] Defects can develop on the inner surface of steel pipes during production and service, affecting their quality and performance. For example, cracks and pitting may appear on the inner surface during manufacturing. Because steel pipes are slender components with large lengths and small diameters, grinding their inner walls is difficult. Traditional grinding methods involve attaching a grinding head to the end of a slender shaft and inserting it into the pipe for repair. However, this method is difficult and inaccurate for slender steel pipes, making it hard to guarantee the grinding effect and resulting in a low pass rate.

[0003] In addition, steel pipes in service may also require regrinding. After a period of use, the surface precision of the inner wall (such as roughness and roundness) decreases, directly affecting firing accuracy. Therefore, steel pipes need regular regrinding and maintenance. Currently, the main regrinding method is to disassemble the steel pipe and return it to the factory for repair using specialized equipment. This method is inefficient, costly, and cannot meet timeliness requirements.

[0004] Therefore, in view of the problems of low efficiency, low precision and high cost of existing steel pipe grinding methods, the present invention provides a portable steel pipe grinding traction robot. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a portable steel pipe grinding traction robot, which solves the problems of low efficiency and high cost of existing steel pipe grinding methods.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A portable steel pipe grinding traction robot includes a front-end sensor assembly, a transmission and diameter-changing assembly, a push rod drive assembly, a grinding assembly, and a main rod; the main rod is equipped with the push rod drive assembly and the transmission and diameter-changing assembly; the front-end sensor assembly is installed at the front end of the transmission and diameter-changing assembly to collect full-dimensional data inside the steel pipe; the tail end of the main rod is used to traction the grinding assembly. The transmission and diameter-changing assembly includes two fixed plates, which are slidably mounted on the main rod via sliding bearings and connected by two linkage rods. The output end of the push rod drive assembly is connected to the fixed plates. Two sets of tracked walking mechanisms are distributed on both sides of the main rod along the radial direction. The two ends of the tracked walking mechanisms are movably connected to the two fixed plates via two sets of hinged branches. An I-shaped positioning plate is fixed on the main rod, and the two sets of tracked walking mechanisms are respectively positioned in the two I-shaped slots of the I-shaped positioning plate. A positioning slider is provided on the side of the tracked walking mechanism, and the positioning slider is slidably mounted in the strip groove on the side of the I-shaped positioning plate.

[0007] In this solution, when grinding the steel pipe, the transmission and diameter changing assembly and the push rod drive assembly are supported inside the steel pipe. The push rod drive assembly drives the fixed plate to move along the main rod. Due to the limitation of the positioning slider sliding in the slot, the crawler walking mechanism can only move in a direction perpendicular to the axis of the main rod. Therefore, while the push rod drive assembly drives the fixed plate to move, the fixed plate can drive the two sets of crawler walking mechanisms to extend to both sides of the main rod through the hinged support chain, so that the two sets of crawler walking mechanisms are stably supported on the inner wall of the steel pipe. After support, the crawler walking mechanism crawls along the steel pipe, while pulling the grinding assembly to move inside the steel pipe, performing automated grinding on the inner wall of the steel pipe. The grinding efficiency is high, the precision is high, and there is no need to disassemble and return to the factory. The cost is low, and it is suitable for the timely grinding of the inner surface of slender steel pipes.

[0008] Furthermore, the tracked walking mechanism includes two mounting plates, each with a hinge shaft at both ends, and a hinge chain rotatably connected to the hinge shaft. Two large pulleys are rotatably connected between the two mounting plates, and a walking track is wound around the periphery of the two large pulleys. A drive mechanism is also installed between the two mounting plates, and the drive mechanism is connected to one of the large pulleys in a transmission connection.

[0009] In this solution, the drive mechanism drives the large pulley and the walking track to rotate. As the walking track rotates, the friction between it and the inner wall of the steel pipe drives the entire robot to crawl inside the steel pipe, enabling the robot to move forward and backward smoothly inside the steel pipe. This solution is suitable for working scenarios in slender pipes.

[0010] Furthermore, the drive mechanism includes a motor, and a motor end positioning plate is provided at the end of the motor. The motor is fixed between two mounting plates through the motor end positioning plate. The output shaft of the motor is connected to the first reduction shaft through a bevel gear set. The first reduction gear on the first reduction shaft meshes with the second reduction gear on the second reduction shaft, and the second reduction gear meshes with the driven gear on the large pulley.

[0011] In this design, the motor drives the first reduction shaft to rotate through a bevel gear set. The first reduction shaft drives the second reduction shaft to rotate through the meshing of the first reduction gear and the second reduction gear. The second reduction shaft then drives the large pulley to rotate through the meshing of the second reduction gear and the driven gear. This design achieves efficient power transmission through a multi-stage gear transmission mechanism, while reducing the speed and increasing the torque.

[0012] Furthermore, the push rod drive assembly includes two electric push rods, the fixed ends of which are fixedly connected to the main rod; the telescopic ends of the two electric push rods are connected to push rod connecting plates, which are slidably mounted on the main rod via sliding bearings; a variable diameter adjusting spring is provided between the push rod connecting plate and the fixed plate, and the variable diameter adjusting spring is sleeved on the main rod.

[0013] In this design, the telescopic action of the electric actuator drives the actuator connecting plate to move along the main rod. The actuator connecting plate, through a variable diameter adjustment spring, drives the two fixed plates of the transmission and variable diameter assembly to move along the main rod, and then drives two sets of tracked walking mechanisms to support the sides of the main rod through a hinged chain. The variable diameter adjustment spring is designed so that when the robot encounters pits or impacts that may exist on the inner wall of the steel pipe, the actuator connecting plate and the fixed plate are elastically connected. The variable diameter adjustment spring can provide a small range of adaptive adjustment by compression or extension without affecting the telescopic length of the electric actuator, reducing the rigid impact on the electric actuator, and can effectively adapt to the rifling spiral structure and complex surface of the steel pipe inner bore.

[0014] Furthermore, the push rod drive assembly also includes two sets of support wheels, which are fixed on both sides of the main rod radially, and the line connecting the two sets of support wheels is perpendicular to the line connecting the two electric push rods.

[0015] In this design, two sets of support wheels are installed on both sides of the main rod to ensure that the push rod drive assembly is located at the axis of the steel pipe, thus ensuring the centering effect of the entire robot inside the steel pipe.

[0016] Furthermore, the grinding assembly includes a cylindrical grinding body, which is fixed to the end of the main rod; several grinding brushes are distributed on the cylindrical grinding body; a rectangular groove is opened in the middle of the cylindrical grinding body, and an elastic support structure is provided inside the groove.

[0017] Furthermore, the elastic support structure includes a support column, which is fixed in a rectangular groove on the surface of the cylindrical grinding body; one end of the first arm is movably connected to the support column, and the other end of the first arm is movably connected to a roller; the roller is also movably connected to a buffer block through a second arm, and the buffer block is connected to the inner wall of the rectangular groove through a support spring.

[0018] In this design, when the roller encounters a protrusion on the inner wall of the steel pipe, the roller is adjusted to the side closer to the cylindrical grinding body, and the buffer block squeezes the support spring to achieve buffering; when the roller encounters a depression on the inner wall of the steel pipe, the roller is adjusted to the direction away from the cylindrical grinding body, the support spring extends, and under the action of elasticity, it ensures that the roller abuts against the inner wall of the steel pipe to achieve good support.

[0019] Furthermore, the transmission and diameter changing assembly is provided in two sections, which are connected by a splicing assembly. After the connection, the lines connecting the two sets of tracked walking mechanisms in the two transmission and diameter changing assemblies are perpendicular to each other. The front-end sensor assembly is mounted on the fixed plate at the front end of the first transmission and diameter change assembly, and the output end of the push rod drive assembly is connected to the fixed plate at the rear end of the second transmission and diameter change assembly.

[0020] In this design, the two transmission and diameter-changing components are vertically arranged to ensure stable support inside the steel pipe and provide sufficient gripping force to pull the grinding component to move along the inside of the steel pipe, enabling the robot to move smoothly forward and backward inside the steel pipe. This solves the problem of slippage and jamming in traditional mobile structures inside steel pipes.

[0021] Furthermore, the splicing assembly includes a splicing flange, which is fixed to the fixing plate at the beginning of the second transmission and diameter changing assembly; the fixing plate at the end of the first transmission and diameter changing assembly is connected to the splicing flange via two transmission rods.

[0022] The beneficial effects of this invention are: The portable steel pipe grinding traction robot provided by the present invention places the robot inside the steel pipe when grinding the steel pipe. The push rod drive component controls the transmission and diameter changing component to form a support inside the steel pipe. The transmission and diameter changing component provides driving force to drive the robot to walk. At the same time, the traction grinding component moves inside the steel pipe to automatically grind the inner wall of the steel pipe.

[0023] The front-end sensor assembly collects real-time data on the rifling profile, diameter, and grinding conditions of the steel pipe. The transmission and diameter-adjusting assembly, as the core adjustment unit, drives the two sets of tracked walking mechanisms to extend to both sides of the main rod via a hinged chain, allowing them to be stably supported on the inner wall of the steel pipe. An additional diameter-adjusting spring provides a small range of adaptive adjustment through compression or extension without affecting the extension and retraction length of the electric push rod, reducing rigid impact on the push rod. This effectively adapts to the rifling spiral structure and complex surface of the steel pipe's inner bore, enabling the robot to move smoothly forward and backward within the pipe. Support wheels on the push rod drive assembly provide stable axial support, reducing the reaction force generated during grinding and ensuring the push rod drive assembly is centered on the steel pipe's axis, guaranteeing the robot's centering within the pipe.

[0024] It solves the problems of low efficiency, low precision, and high cost in traditional steel pipe inner wall grinding, significantly improves the precision and efficiency of steel pipe rifling grinding, and reduces the intensity of manual operation and safety risks; it has an adaptive pre-tightening function, thus possessing significant application value and engineering promotion prospects. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of a portable steel pipe grinding traction robot according to the present invention; Figure 2 This is a schematic diagram of the transmission and diameter changing assembly and the push rod drive assembly in this invention; Figure 3 This is a schematic diagram of the transmission and diameter changing assembly after removing the mounting plate in this invention; Figure 4This is a schematic diagram of the grinding assembly in this invention; Figure 5 for Figure 4 A magnified view of a portion of region A in the middle; Figure 6 This is a schematic diagram of the portable steel pipe grinding and traction robot with two additional transmission and diameter-changing components as shown in Example 2. Figure 7 for Figure 6 A magnified view of a portion of region B in the middle.

[0026] Figure label: 1. Front-end sensor assembly; 2. Transmission and diameter changing assembly; 21. Linkage rod; 22. Fixing plate; 23. Tracked walking mechanism; 231. Mounting plate; 232. Large pulley; 233. Walking track; 234. Articulated shaft; 241. Motor; 242. Motor end positioning plate; 243. Bevel gear set; 244. First reduction shaft; 245. First reduction gear; 246. Second reduction shaft; 247. Second reduction gear; 248. Driven gear; 25. 26. Hinged support chain; 27. I-beam positioning plate; 28. Positioning slider; 29. ​​Splicing assembly; 201. Splicing flange; 202. Transmission rod; 30. Push rod drive assembly; 31. Electric push rod; 32. Push rod connecting plate; 33. Variable diameter adjusting spring; 34. Support wheel; 45. Grinding assembly; 46. Cylindrical grinding body; 47. Grinding brush; 48. Support column; 49. First support arm; 40. Roller; 41. Second support arm; 42. Buffer block; 43. Support spring; 44. Main rod; Detailed Implementation The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Specific embodiments of the present invention are described below to facilitate understanding by those skilled in the art. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various modifications are obvious as long as they fall within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0027] Example 1 like Figure 1 As shown, this embodiment provides a portable steel pipe grinding traction robot, which solves the problems of low efficiency and high cost of existing steel pipe grinding methods; specifically, it includes: Front-end sensor assembly 1, transmission and diameter changing assembly 2, push rod drive assembly 3, grinding assembly 4, and main rod 5; The main rod 5 is equipped with a push rod drive assembly 3 and a transmission and diameter changing assembly 2. A front-end sensor assembly 1 is installed at the front end of the transmission and diameter changing assembly 2 to collect comprehensive data such as the rifling profile of the steel pipe, pipe diameter, and grinding conditions. The tail end of the main rod 5 has a traction grinding assembly 4. The push rod drive assembly 3 controls the transmission and diameter changing assembly 2 to form a support inside the steel pipe, while the transmission and diameter changing assembly 2 provides driving force to propel the robot. Simultaneously, the traction grinding assembly 4 moves inside the steel pipe to automatically grind the inner wall of the steel pipe.

[0028] The specific structure of transmission and diameter changing assembly 2 is as follows: like Figure 2 As shown, the transmission and diameter-changing assembly 2 includes a linkage rod 21, a fixed plate 22, a tracked walking mechanism 23, an articulated support chain 25, an I-shaped positioning plate 26, and a positioning slider 27. Two fixed plates 22 are provided, slidably mounted on the main rod 5 via sliding bearings. The main rod 5 has a sliding section for the sliding bearings, and the fixed plates 22 are restricted to sliding within this section. The two fixed plates 22 are connected as a whole by two linkage rods 21. The front-end sensor assembly 1 is mounted on one of the fixed plates 22, and the output end of the push rod drive assembly 3 is connected to the other fixed plate 22. Two sets of tracked walking mechanisms 23 are distributed radially on both sides of the main rod 5, and the two ends of each tracked walking mechanism 23 are movably connected to the two fixed plates 22 via two sets of articulated supports 25. An I-shaped positioning plate 26 is fixed on the main rod 5, and two sets of tracked walking mechanisms 23 are respectively positioned in the two I-shaped slots of the I-shaped positioning plate 26; a positioning slider 27 is provided on the side of the tracked walking mechanism 23, and the positioning slider 27 is slidably disposed in the strip groove on the side of the I-shaped positioning plate 26.

[0029] When grinding the steel pipe, the transmission and diameter changing assembly 2 and the push rod drive assembly 3 are supported inside the steel pipe. The push rod drive assembly 3 drives the fixed plate 22 to move along the main rod 5. Due to the limitation of the positioning slider 27 sliding in the slot, the tracked walking mechanism 23 can only move in a direction perpendicular to the axis of the main rod 5. Therefore, while the push rod drive assembly 3 drives the fixed plate 22 to move, the fixed plate 22 can drive the two sets of tracked walking mechanisms 23 to extend to both sides of the main rod 5 through the hinged support chain 25, so that the two sets of tracked walking mechanisms 23 are stably supported on the inner wall of the steel pipe. After support, the tracked walking mechanism 23 crawls along the steel pipe, while pulling the grinding assembly 4 to move inside the steel pipe, and automatically grinding the inner wall of the steel pipe. The grinding efficiency is high, the precision is high, and there is no need to disassemble and return to the factory. The cost is low and it is suitable for the timely grinding of the inner surface of slender steel pipes.

[0030] like Figure 2 and Figure 3As shown, the tracked walking mechanism 23 includes two mounting plates 231, hinge shafts 234, large pulleys 232, walking tracks 233, and a drive mechanism. Hinges 234 are located at both ends of the two mounting plates 231, with hinged chains 25 rotatably connected to the hinge shafts 234. Two large pulleys 232 are rotatably connected between the two mounting plates 231, and the walking tracks 233 are wound around the periphery of the two large pulleys 232. A drive mechanism is also installed between the two mounting plates 231, and the drive mechanism is connected to one of the large pulleys 232. The drive mechanism drives the large pulleys 232 and the walking tracks 233 to rotate. During rotation, the walking tracks 233 drive the entire robot to crawl inside the steel pipe through friction with the inner wall of the steel pipe, enabling the robot to move smoothly forward and backward within the steel pipe, suitable for working scenarios in slender pipes.

[0031] like Figure 3 As shown, the drive mechanism includes a motor 241, a motor end positioning plate 242, a bevel gear set 243, a first reduction shaft 244, a first reduction gear 245, a second reduction shaft 246, a second reduction gear 247, and a driven gear 248. The motor 241 is positioned at its end by the motor end positioning plate 242, which fixes the motor 241 between two mounting plates 231. The output shaft of the motor 241 is connected to the first reduction shaft 244 via the bevel gear set 243. The first reduction gear 245 on the first reduction shaft 244 meshes with the second reduction gear 247 on the second reduction shaft 246, and the second reduction gear 247 meshes with the driven gear 248 on the large pulley 232. The motor 241 drives the first reduction shaft 244 to rotate through the bevel gear set 243. The first reduction shaft 244 drives the second reduction shaft 246 to rotate through the meshing of the first reduction gear 245 and the second reduction gear 247. The second reduction shaft 246 then drives the large pulley 232 to rotate through the meshing of the second reduction gear 247 and the driven gear 248. This design achieves efficient power transmission through a multi-stage gear transmission mechanism, while reducing the speed and increasing the torque.

[0032] The specific structure of the push rod drive assembly 3 is as follows: like Figure 2 As shown, the push rod drive assembly 3 includes two electric push rods 31, a push rod connecting plate 32, a diameter-adjusting spring 33, and two sets of support wheels 34. The fixed ends of the two electric push rods 31 are fixedly connected to the main rod 5; the telescopic ends of the two electric push rods 31 are connected to the push rod connecting plate 32, which is slidably mounted on the main rod 5 via sliding bearings. The telescopic action of the electric push rods 31 drives the push rod connecting plate 32 to move along the main rod 5. The push rod connecting plate 32 drives the two fixed plates 22 of the transmission and diameter-adjusting assembly 2 to move along the main rod 5 via the diameter-adjusting spring 33, and then drives the two sets of tracked walking mechanisms 23 to support the sides of the main rod 5 via the hinged support chain 25.

[0033] A variable diameter adjusting spring 33 is provided between the push rod connecting plate 32 and the fixed plate 22, and the variable diameter adjusting spring 33 is sleeved on the main rod 5. The design of the variable diameter adjusting spring 33 is such that when the robot encounters pits or impacts that may exist on the inner wall of the steel pipe, the push rod connecting plate 32 and the fixed plate 22 are elastically connected. The variable diameter adjusting spring 33 can provide a small range of adaptive adjustment by compression or extension without affecting the extension and retraction length of the electric push rod 31, reducing the rigid impact on the electric push rod 31, and can effectively adapt to the rifling spiral structure and complex surface of the inner bore of the steel pipe.

[0034] Two sets of support wheels 34 are fixed on both sides of the radial direction along the main rod 5, and the line connecting the two sets of support wheels 34 is perpendicular to the line connecting the two electric push rods 31. This ensures that the push rod drive assembly 3 is at the axial position of the steel pipe, guaranteeing the centering effect of the entire robot within the steel pipe.

[0035] The specific structure of the grinding component 4 is as follows: like Figure 4 As shown, the grinding assembly 4 includes a cylindrical grinding body 41, grinding brushes 42, and an elastic support structure. The cylindrical grinding body 41 is fixed to the end of the main rod 5; several grinding brushes 42 are distributed on the cylindrical grinding body 41; a rectangular groove is provided in the middle of the cylindrical grinding body 41, and an elastic support structure is provided inside the groove.

[0036] like Figure 5 As shown, the elastic support structure includes a support column 43, a first support arm 44, a roller 45, a second support arm 46, a buffer block 47, and a support spring 48. The support column 43 is fixed in a rectangular groove on the surface of the cylindrical grinding body 41; one end of the first support arm 44 is movably connected to the support column 43, and the other end of the first support arm 44 is movably connected to the roller 45; the roller 45 is also movably connected to the buffer block 47 through the second support arm 46, and the buffer block 47 is connected to the inner wall of the rectangular groove through the support spring 48. When the roller 45 encounters a protrusion on the inner wall of the steel pipe, the roller 45 adjusts towards the side closer to the cylindrical grinding body 41, and the buffer block 47 compresses the support spring 48 to achieve buffering; when the roller 45 encounters a depression on the inner wall of the steel pipe, the roller 45 adjusts away from the cylindrical grinding body 41, and the support spring 48 extends, ensuring that the roller 45 abuts against the inner wall of the steel pipe under the action of elasticity, achieving good support.

[0037] The working principle of this embodiment is as follows: In this embodiment, the portable steel pipe grinding traction robot is first placed into the inlet of the steel pipe. The electric push rod 31 pushes the fixed plate 22 to move along the main rod 5 through the push rod connecting plate 32. The fixed rod can drive two sets of tracked walking mechanisms 23 to extend to both sides of the main rod 5 through the hinged support chain 25, so that the two sets of tracked walking mechanisms 23 are stably supported on the inner wall of the steel pipe. Then the motor 241 is started. The motor 241 drives the walking track 233 to rotate through the multi-stage gear transmission mechanism. The walking track 233 crawls inside the steel pipe, driving the robot to move forward and backward smoothly inside the steel pipe; at the same time, the traction grinding component 4 grinds the inner wall of the steel pipe.

[0038] Example 2 like Figure 6 As shown, this embodiment adds two transmission and diameter changing components 2 to a portable steel pipe grinding traction robot based on embodiment 1 to achieve stable support inside the steel pipe and avoid slippage.

[0039] The two transmission and diameter-changing components 2 are connected by a splicing component 28. After connection, the lines connecting the two sets of tracked walking mechanisms 23 in the two transmission and diameter-changing components 2 are perpendicular to each other. The vertical arrangement of the two transmission and diameter-changing components 2 ensures stable support inside the steel pipe and provides sufficient gripping force to pull the grinding component 4 to move along the inside of the steel pipe, enabling the robot to move smoothly forward and backward inside the steel pipe. This solves the problem of slippage and jamming of traditional moving structures inside steel pipes.

[0040] like Figure 7 As shown, the splicing assembly 28 includes a splicing flange 281 and two transmission rods 282. The splicing flange 281 has a cross-shaped structure and is fixed to the fixing plate 22 at the beginning of the second transmission and diameter changing assembly 2. The fixing plate 22 at the end of the first transmission and diameter changing assembly 2 is connected to the splicing flange 281 via the two transmission rods 282. The front-end sensor assembly 1 is mounted on the fixing plate 22 at the front end of the first transmission and diameter changing assembly 2, and the output end of the push rod drive assembly 3 is connected to the fixing plate 22 at the end of the second transmission and diameter changing assembly 2.

[0041] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention and should be understood as not limiting the scope of protection of the invention to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed herein without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of the invention.

Claims

1. A portable steel pipe grinding traction robot, characterized in that: It includes a front-end sensor assembly (1), a transmission and diameter-changing assembly (2), a push rod drive assembly (3), a grinding assembly (4), and a main rod (5); the main rod (5) is equipped with the push rod drive assembly (3) and the transmission and diameter-changing assembly (2); the front-end sensor assembly (1) is installed at the front end of the transmission and diameter-changing assembly (2) and is used to collect full-dimensional data inside the steel pipe; the tail end of the main rod (5) pulls the grinding assembly (4). The transmission and diameter changing assembly (2) includes two fixed plates (22), which are slidably mounted on the main rod (5) via sliding bearings. The two fixed plates (22) are connected by two linkage rods (21). The output end of the push rod drive assembly (3) is connected to the fixed plate (22). Two sets of tracked walking mechanisms (23) are distributed on both sides of the main rod (5) along the radial direction. The two ends of the tracked walking mechanism (23) are movably connected to the two fixed plates (22) via two sets of hinged branches (25). An I-shaped positioning plate (26) is fixed on the main rod (5). The two sets of tracked walking mechanisms (23) are respectively positioned in the two I-shaped slots of the I-shaped positioning plate (26). A positioning slider (27) is provided on the side of the tracked walking mechanism (23). The positioning slider (27) is slidably mounted in the strip groove on the side of the I-shaped positioning plate (26).

2. The portable steel pipe grinding traction robot according to claim 1, characterized in that: The tracked walking mechanism (23) includes two mounting plates (231), each end of which is provided with a hinge shaft (234), and the hinge branch (25) is rotatably connected to the hinge shaft (234); two large pulleys (232) are rotatably connected between the two mounting plates (231), and a walking track (233) is wound around the periphery of the two large pulleys (232); a drive mechanism is also installed between the two mounting plates (231), and the drive mechanism is connected to one of the large pulleys (232) in a transmission connection.

3. The portable steel pipe grinding traction robot according to claim 2, characterized in that: The drive mechanism includes a motor (241), and a motor end positioning plate (242) is provided at the end of the motor (241). The motor (241) is fixed between two mounting plates (231) through the motor end positioning plate (242). The output shaft of the motor (241) is connected to the first reduction shaft (244) through a bevel gear set (243). The first reduction gear (245) on the first reduction shaft (244) meshes with the second reduction gear (247) on the second reduction shaft (246), and the second reduction gear (247) meshes with the driven gear (248) on the large pulley (232).

4. The portable steel pipe grinding traction robot according to claim 1, characterized in that: The push rod drive assembly (3) includes two electric push rods (31), the fixed ends of the two electric push rods (31) are fixedly connected to the main rod (5); the telescopic ends of the two electric push rods (31) are connected to push rod connecting plates (32), the push rod connecting plates (32) are slidably mounted on the main rod (5) through sliding bearings; a variable diameter adjusting spring (33) is provided between the push rod connecting plate (32) and the fixed plate (22), the variable diameter adjusting spring (33) is sleeved on the main rod (5).

5. The portable steel pipe grinding traction robot according to claim 4, characterized in that: The push rod drive assembly (3) also includes two sets of support wheels (34), which are fixed on both sides of the radial direction of the main rod (5), and the line connecting the two sets of support wheels (34) is perpendicular to the line connecting the two electric push rods (31).

6. The portable steel pipe grinding traction robot according to claim 1, characterized in that: The grinding assembly (4) includes a cylindrical grinding body (41), which is fixed to the end of the main rod (5); a plurality of grinding brushes (42) are distributed on the cylindrical grinding body (41); a rectangular groove is provided in the middle of the cylindrical grinding body (41), and an elastic support structure is provided inside the groove.

7. The portable steel pipe grinding traction robot according to claim 6, characterized in that: The elastic support structure includes a support column (43), which is fixed in a rectangular groove on the surface of the cylindrical grinding body (41); one end of a first arm (44) is movably connected to the support column (43), and the other end of the first arm (44) is movably connected to a roller (45); the roller (45) is also movably connected to a buffer block (47) through a second arm (46), and the buffer block (47) is connected to the inner wall of the rectangular groove through a support spring (48).

8. The portable steel pipe grinding traction robot according to any one of claims 1 to 7, characterized in that: The transmission and diameter changing assembly (2) is provided in two sections. The two sections of the transmission and diameter changing assembly (2) are connected by a splicing assembly (28). After the connection, the lines connecting the two sets of tracked walking mechanisms (23) in the two sections of the transmission and diameter changing assembly (2) are perpendicular to each other. The front-end sensor assembly (1) is mounted on the fixing plate (22) at the front end of the first transmission and diameter change assembly (2), and the output end of the push rod drive assembly (3) is connected to the fixing plate (22) at the tail end of the second transmission and diameter change assembly (2).

9. The portable steel pipe grinding traction robot according to claim 8, characterized in that: The splicing assembly (28) includes a splicing flange (281), which is fixed on the fixing plate (22) at the beginning of the second transmission and diameter changing assembly (2); the fixing plate (22) at the end of the first transmission and diameter changing assembly (2) is connected to the splicing flange (281) through two transmission rods (282).

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